CN109414363B - Electric wheelchair - Google Patents

Electric wheelchair Download PDF

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Publication number
CN109414363B
CN109414363B CN201780038207.XA CN201780038207A CN109414363B CN 109414363 B CN109414363 B CN 109414363B CN 201780038207 A CN201780038207 A CN 201780038207A CN 109414363 B CN109414363 B CN 109414363B
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CN
China
Prior art keywords
electric wheelchair
user
frame
obstacle detection
detection sensor
Prior art date
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Active
Application number
CN201780038207.XA
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Chinese (zh)
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CN109414363A (en
Inventor
笹井裕之
安藤健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Corp
Original Assignee
Panasonic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2016-125723 priority Critical
Priority to JP2016125723 priority
Application filed by Panasonic Corp filed Critical Panasonic Corp
Priority to PCT/JP2017/021406 priority patent/WO2017221736A1/en
Publication of CN109414363A publication Critical patent/CN109414363A/en
Application granted granted Critical
Publication of CN109414363B publication Critical patent/CN109414363B/en
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Anticipated expiration legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045Rear wheel drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/122Rests specially adapted therefor, e.g. for the head or the feet for the back
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/124Rests specially adapted therefor, e.g. for the head or the feet for pelvis or buttocks
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128Rests specially adapted therefor, e.g. for the head or the feet for feet
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention

Abstract

The electric wheelchair includes a main frame, a seat back frame, a footrest frame, a wheel portion, and an obstacle detection sensor. The seat frame is disposed above the main frame and supports a seat for sitting, which supports the buttocks and thighs of a user. The seat back frame is disposed behind the main frame and supports a back rest portion for supporting a back of a user. The footrest frame is disposed in front of the main frame and supports a footrest for supporting the feet of a user. The wheel portion movably supports the main frame. The obstacle detection sensor is provided at a position forward of the seat frame, and detects an obstacle.

Description

Electric wheelchair
Technical Field
The present invention relates to an electric wheelchair having an obstacle detection function.
Background
There is known an electric wheelchair which is not only moved by a human operation but also has a function of stopping the electric wheelchair by detecting an obstacle with an obstacle detection sensor. In particular, a method of controlling the travel of an electric wheelchair that can achieve a detailed operation is disclosed (for example, see patent document 1).
In this travel control method, information on the presence or absence of an obstacle from the obstacle detection sensor is input to the travel permission determination means, and when an obstacle is detected, the alarm generation means is instructed to generate an alarm, and the motor drive means is instructed to stop operating, so that the electric wheelchair is temporarily stopped to avoid collision with the obstacle. Subsequently, when a next operation instruction is waited for and a running instruction including the direction in which the obstacle is being detected is received again from the operation means, the alarm generation instruction is sent again to the alarm generation means, and a running permission (instruction) is sent to the motor drive means to permit running.
The electric wheelchair for realizing the above-described operation is also shown. In the conventional structure, a structure is disclosed in which an obstacle detection sensor is provided in an electric wheelchair main body and is disposed at the forefront of a seat surface.
With this configuration, the electric wheelchair can detect an obstacle located in front of the wheelchair, and can temporarily stop the wheelchair to avoid a collision. Then, when an operation instruction including a direction in which an obstacle is detected is performed again, the electric wheelchair can travel to the vicinity of the obstacle without releasing the obstacle detection mechanism and following a special operation procedure by allowing the operation while calling the attention of the occupant.
Documents of the prior art
Patent document
Patent document 1: japanese patent application laid-open publication No. 2011-177205
Disclosure of Invention
The electric wheelchair includes a main frame, a seat back frame, a footrest frame, a wheel portion, and an obstacle detection sensor.
The seat frame is disposed above the main frame and supports a seat for sitting, which supports the buttocks and thighs of a user.
The seat back frame is disposed behind the main frame and supports a back rest portion for supporting a back of a user.
The footrest frame is disposed in front of the main frame and supports a footrest for supporting the feet of a user.
The wheel portion movably supports the main frame.
The obstacle detection sensor is provided at a position forward of the seat frame, and detects an obstacle.
Drawings
Fig. 1 is a schematic side view of an electric wheelchair according to embodiment 1.
Fig. 2 is a schematic plan view showing an obstacle detection range of the electric wheelchair according to embodiment 1.
Fig. 3 is a schematic plan view of the electric wheelchair and a user according to embodiment 1.
Fig. 4 is a schematic plan view of the electric wheelchair and a user according to embodiment 1.
Fig. 5 is a schematic side view of the electric wheelchair and a user according to embodiment 1.
Fig. 6 is a schematic side view of an electric wheelchair according to embodiment 2.
Fig. 7 is a schematic plan view showing an obstacle detection range of the electric wheelchair according to embodiment 2.
Detailed Description
Before describing the present embodiment, problems of the conventional electric wheelchair will be described in brief. In the structure disclosed in patent document 1, the obstacle detection sensor is disposed at the forefront of the seat surface of the electric wheelchair main body. Therefore, when the user sits and operates the electric wheelchair, if the user has a large body size, the user may erroneously detect both feet as an obstacle. For example, when electric wheelchairs are used in a public place in a shared manner, different users may board the same electric wheelchair, and therefore the probability of the above-described problem is increased. In addition, there is also a possibility that the clothing is covered on the obstacle detection sensor and the clothing is erroneously detected as an obstacle.
Further, in the conventional configuration, an obstacle located at the side or rear of the electric wheelchair cannot be detected by an obstacle detection sensor that detects an obstacle located ahead. Therefore, an obstacle detection sensor for side or rear detection needs to be additionally provided. As a result, the electric wheelchair as a whole becomes expensive.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the same components are denoted by the same reference numerals and the description thereof may be omitted. For easy understanding, the drawings schematically show the respective components as main components.
(embodiment mode 1)
Fig. 1 is a schematic side view of an electric wheelchair 100 according to embodiment 1. Fig. 2 is a schematic plan view showing an obstacle detection range of the electric wheelchair 100 according to embodiment 1. In fig. 2, the footrest frame 111 is omitted for easy understanding of the detection range.
As shown in fig. 1, the electric wheelchair 100 according to embodiment 1 includes at least a seat frame 107, a seat back frame 109, a footrest frame 111, a wheel portion 112, and an obstacle detection sensor 124.
The wheel portion 112 includes a pair of left and right drive wheels 102 rotatably mounted on the main frame 101, and a pair of left and right auxiliary wheels 105 provided as steered wheels. The main frame 101 is supported by a drive wheel 102 and an auxiliary wheel 105.
The seat frame 107 is disposed above the main frame 101, and supports the seat-sitting seat 106 that supports the buttocks and thighs of the user.
The seat back frame 109 is disposed to stand up toward the obliquely rear upper side of the main frame 101. The seat back frame 109 supports a back rest 108 that supports the back of a user.
The footrest frame 111 is formed in an L shape inclined obliquely downward in front of the main frame 101. The footrest frame 111 supports a footrest plate 110 that supports the feet of a user.
The electric wheelchair 100 may include an actuator 121 and an actuator 122 to adjust the angles of the seat frame 107, the seat back frame 109, and the footrest frame 111.
When a user gets on the electric wheelchair 100, the sitting seat 106 supports the buttocks and thighs of the user, the backrest 108 supports the back of the user, and the footrest 110 supports the feet of the user, so that the user can use the electric wheelchair 100 in a sitting state.
The obstacle detection sensor 124 detects an obstacle in front of the electric wheelchair 100 when the electric wheelchair is moving so as not to hinder the travel of the electric wheelchair 100. The obstacle detection sensor 124 may be one sensor provided on the back side of the footrest 110, but here, as shown in fig. 2, two sensors are provided as an example. Specifically, the obstacle detection sensors 124 are disposed on both sides of the electric wheelchair 100, in front of the seat frame 107, behind the front end 600 of the footrest frame 111, and on the seat frame 107 side. The obstacle detection sensor 124 detects an obstacle in the sensing range 291 on the front side of the electric wheelchair 100. In fig. 2, the sensing range 291 of the obstacle detection sensor 124 for detecting an obstacle is a semicircular planar area inclined with respect to the front-rear direction of the electric wheelchair 100.
In this manner, the obstacle detection sensor 124 is provided at a position on the seat frame 107 side, which is further forward than the seat frame 107 and behind the front end 600 of the footrest frame 111 that supports the user's feet 500. With this configuration, the electric wheelchair 100 can avoid detection of unnecessary obstacles such as the feet 500 of the user that should not be detected.
The electric wheelchair 100 may include a pair of electric motors 103 for driving the pair of driving wheels 102, a battery (not shown) for driving the pair of electric motors 103, and a controller 104 in the main frame 101. The controller 104 controls the movement of the electric wheelchair 100 by independently controlling the driving of each of the pair of electric motors 103.
As a specific example of embodiment 1, the obstacle detection sensors 124 are provided at positions on both sides of the electric wheelchair 100, further forward than the seat frame 107, and behind the front end 600 of the footrest frame 111 on the seat frame 107 side. The electric wheelchair 100 may include a sensor base 123 protruding in a rectangular parallelepiped shape in the front-rear direction at both side portions of the footrest frame 111 and at the front end of the main frame 101. That is, the rear end of the sensor base 123 may be fixed to the front end of the main frame 101, and the obstacle detection sensor 124 may be supported by the sensor base 123.
By fixing the sensor base 123 on which the obstacle detection sensor 124 is provided to the main frame 101, the obstacle detection sensor 124 can be disposed at a position on the seat frame 107 side, which is more reliably forward than the seat frame 107 and behind the front end 600 of the footrest frame 111, by the length of the sensor base 123. Therefore, unnecessary obstacles such as the feet of the user can be more reliably avoided from being detected.
The position of the obstacle detection sensor 124 is explained in more detail. Fig. 3 is a schematic plan view of the electric wheelchair 100 according to embodiment 1 and a user. In a case where the user sits, a portion protruding more forward than the footrest plate 110 is below the knee, and the calf portion is thickest. Since the calf portion is generally about 13cm in length, erroneous detection of the user's foot can be avoided by providing the obstacle detection sensor 124 about 13cm in front of the footrest 110 (see arrow 150 in fig. 3). In addition, it is considered that, in general, when a user sits on the electric wheelchair 100, the user sits on the electric wheelchair in a state where the calf portion is slightly separated and relaxed. Therefore, in consideration of a general situation of comfortable seating with a margin of about 5cm, it is preferable to provide the obstacle detection sensor 124 at about 18cm in front of the footrest 110. With this configuration, erroneous detection of the user's foot can be avoided more reliably.
Fig. 4 is a schematic plan view of the electric wheelchair 100 according to embodiment 1 and a user. Fig. 4 illustrates the left-right direction of the obstacle detection sensor 124. As described above, considering the calf length of 13cm, it is preferable to dispose the obstacle detection sensor 124 on the outer side of the electric wheelchair 100 at a distance of 13cm or more from the bilateral symmetry axis (see arrow 160 in fig. 4). Further, when the user sits on the electric wheelchair 100, the obstacle detection sensor 124 is preferably disposed on the outer side of about 18cm or more from the bilateral symmetry axis, because the user often has a wide state of about 10cm, in which the feet are separated by one fist, rather than a state in which the feet are in close contact with each other. In consideration of the passage width when the electric wheelchair 100 is moving, the width of the electric wheelchair 100 is preferably as narrow as possible within a range in which a person can sit. Therefore, the obstacle detection sensor 124 is preferably provided at a position further inward than the outermost periphery of the electric wheelchair 100.
Fig. 5 is a schematic side view of the electric wheelchair 100 according to embodiment 1 and a user. The obstacle detection sensor 124 needs to be disposed at an upper side than the bottom surface of the board frame 111 on which the foot is placed when seated. By providing the obstacle detection sensor 124 at this position, erroneous detection of the footrest frame 111 itself can be avoided. Further, by providing the obstacle detection sensor 124 at a higher position than the instep in consideration of the seated state, erroneous detection of the instep of the user by the obstacle detection sensor 124 can be more reliably avoided. The general instep height is about 10 cm. Therefore, the obstacle detection sensor 124 is preferably provided at a position higher than the footrest frame 111 by 10cm or more. Further, although it depends on the position of the auxiliary wheel 105 of the front wheel and the detection range of the obstacle detection sensor 124, when the detection range of the obstacle detection sensor 124 is rearward, in order to avoid the obstacle detection sensor 124 from erroneously detecting the auxiliary wheel 105 of the front wheel, it is preferable to provide the obstacle detection sensor 124 at a position higher than the auxiliary wheel 105 of the front wheel.
As a modification of embodiment 1, the electric wheelchair 100 may further include a flat-plate-shaped foot cover that is positioned forward of the sensor bases 123 on both sides of the electric wheelchair 100 and limits the range of arrangement of the user's feet 500. Specifically, as shown in fig. 2, the rear end of the foot cover 125 is supported by the front end of the sensor stage 123 so as to be rotatable within a certain angular range in the lateral direction, and the foot cover 125 is rotatable within this angular range. The angular range is a range of rotation between the retracted position 295 where the user does not get in the way when getting on and off the electric wheelchair 100, and the limit position 294 where the user's foot 500 is limited by the foot cover 125 so that the user's foot 500 does not enter the sensing range 291 of the obstacle detection sensor 124. Here, the retracted position 295 is, for example, a position of a one-dot chain line along the front-rear direction of the electric wheelchair 100 in fig. 2. The limit position 294 refers to, for example, the solid line position in fig. 2. In this way, when the obstacle detection sensor 124 detects the obstacle, the foot cover 125 is positioned at the restriction position 294, and the foot 500 of the user can be restricted by the foot cover 125. Here, the detection of the obstacle detection sensor 124 is, for example, when the user drives the electric wheelchair 100 after riding the electric wheelchair 100. This can restrict the user's foot 500 from entering the sensing range 291 of the obstacle detection sensor 124 by the foot cover 125. As a result, it is possible to eliminate the possibility that a portion that should not be detected originally, such as the foot 500 of the user, is erroneously detected as an obstacle.
Fig. 2 is a view of the electric wheelchair 100 as viewed from above to explain the operation of the foot cover 125. An obstacle detection sensor 124 is provided on a sensor base 123 fixed to the front end side of the main frame 101, and obstacle detection ranges (sensing ranges) 291 of the obstacle detection sensors 124 disposed on both sides of the electric wheelchair 100 are set so as to overlap in front of the electric wheelchair 100.
The foot cover 125 may be supported by the sensor 123 so as to be rotatable between the limit position 294 and the retracted position 295 about a central axis 293 substantially coincident with a portion where the obstacle detecting sensor 124 is fixed to the sensor base 123.
According to the modification of embodiment 1, the obstacle detection sensor 124 can be disposed at a position forward of the footrest 110 by the length of the sensor base 123. As shown by the one-dot chain line in fig. 2, the seat frame 107 is disposed rearward of the footrest 110, and therefore the obstacle detection sensor 124 is disposed forward of the seat frame 107. When a user gets on and uses the electric wheelchair 100, the seat frame 107 supports the buttocks and the thighs of the user, and the footrest 110 and the footrest frame 111 support the feet 500 of the user. In this case, since the obstacle detection sensor 124 is also located at the seat frame 107 side in front of the seat frame 107 and behind the front end 600 of the footrest frame 111, the possibility that the obstacle detection sensor 124 erroneously detects the user's foot 500 as an obstacle is very low.
After the user gets on the electric wheelchair 100, the leg cover 125 can be rotated from the retracted position 295 to the restricting position 294 with the center axis 293 (rotation axis) having a center axis substantially coincident with the center axis of the position where the obstacle detection sensor 124 is fixed to the sensor base 123. This allows the boundary 292 of the sensing range 291 of the obstacle detection sensor 124 to substantially coincide with the position of the foot cover 125 (see the limit position 294 of the foot cover 125 indicated by the solid line in fig. 2). As a result, the area in which the user's foot 500 does not extend beyond the sensing range 291 can be effectively limited.
Accordingly, the obstacle detection sensor 124 is provided at a position on the seat frame 107 side further forward than the seat frame 107 and behind the front end 600 of the footrest frame 111, and the provision of the foot cover 125 effectively restricts the region where the user's foot 500 does not protrude beyond the sensing range 291. Therefore, it is possible to eliminate the situation where a portion that should not be detected originally, such as the foot 500 of the user, is erroneously detected as an obstacle.
(embodiment mode 2)
Fig. 6 is a schematic side view of an electric wheelchair 300 according to embodiment 2. Fig. 7 is a schematic plan view showing an obstacle detection range of the electric wheelchair 300 according to embodiment 2.
The basic structure of the electric wheelchair 300 is the same as that of the electric wheelchair 100 of fig. 1. The electric wheelchair 300 includes an operation lever 301 and an armrest 302 in addition to the configuration of the electric wheelchair 100 shown in fig. 1. In embodiment 2, the same configuration and operation as those in fig. 1 will not be described.
The operation lever 301 is connected to the controller 104. The pair of electric motors 103 is controlled by swinging the operation lever 301 forward, backward, leftward, and rightward so as to move the electric wheelchair 300 in the swinging direction (traveling direction).
That is, the user can move the electric wheelchair 300 in the same direction as the swing operation by riding the electric wheelchair 300 and swinging the operation lever 301 in the same direction as the direction in which the electric wheelchair 300 is desired to move. The directions applied to the operation lever 301 in the front, rear, left, and right directions are transmitted to the controller 104. The controller 104 controls the electric motor 103 to move the electric wheelchair 300 in the same direction as the direction applied to the operation lever 301. The pair of electric motors 103 drives the pair of driving wheels 102 to rotate forward and backward, thereby moving the electric wheelchair 300.
Further, obstacle detection sensors 124 for detecting obstacles are provided on a sensor base 323 projecting in the front-rear direction in a rectangular parallelepiped shape, for example, on both side portions of the footrest frame 111 and at the front end of the main frame 101. As shown in fig. 7, the rear end of the sensor stage 323 is supported by the front end of the main frame 101 to be rotatable about the rotation shaft 324 in the left-right direction. The sensor stage 323 is driven to rotate by a sensor stage rotation motor 325, which functions as an example of a rotation driving device, so as to rotate in a direction based on the direction applied to the operation lever 301 detected by the controller 104. That is, when the controller 104 detects a rightward or leftward movement component in the direction applied to the operation lever 301, the sensor base 323 on the same side as the movement component is moved to the outside of the electric wheelchair 300, and the range of detecting an obstacle can be extended to the rear of the electric wheelchair 300.
The operation of the electric wheelchair 300 configured as described above will be described in more detail. Fig. 7 shows the present electric wheelchair 300 as viewed from above. For example, when the user swings the operation lever 301 in the left direction to move the electric wheelchair 300 in the left direction, the controller 104 detects the left component as the component applied to the operation lever 301. When the controller 104 detects the left component, the controller 104 drives and controls the left sensor stand rotation motor 325 so that the left sensor stand 323 of the electric wheelchair 300 rotates to the left rotation angle θ 2 outside the electric wheelchair 300 around the rotation shaft 324. At this time, the sensor base 323 is rotated by an angle θ 2 equal to θ 1, where θ 1 is an angle formed by the boundary 292 of the sensing range 291 before the rotation of the sensor base 323 and the front-rear direction of the electric wheelchair 300. With this configuration, the sensing range 291 of the obstacle detection sensor 124 can be rotated backward by the angle θ 2(θ 1), and the sensing range 291 can be set to the changed sensing range 491. As a result, the rear obstacle in the range 492 of the angle θ 1 can be detected by the changed sensing range 491. In the sensing range 291 before the change, the rear obstacle in the range 492 of the angle θ 1 is out of the sensing range, and thus is an undetectable obstacle.
As the obstacle detection sensor 124, a laser sensor can be generally used, but a tof (time Of flight) sensor may be used. In this case, the cost of the electric wheelchair 300 can be reduced as compared with the case of using a laser sensor. In addition, a stereo camera may also be used. In this case, since color information and the like can be acquired in addition to the depth information, more detailed information on the obstacle can be acquired, and accurate obstacle avoidance can be realized.
Further, the sensor stage 323 and the foot cover 12 can be combined. According to this configuration, in addition to the above-described effects of the sensor base 323, the obstacle detection sensor 124 can be prevented from erroneously detecting the user's foot 500 as an obstacle.
According to embodiment 2, the sensor base 323 supporting the obstacle detection sensor 124 can be moved outward of the electric wheelchair 300 in accordance with the direction of the operating lever 301. Thus, when the electric wheelchair 300 moves left and right, an obstacle on the left and right sides and the rear can be detected by one obstacle detection sensor 124. As a result, the risk of collision with an obstacle can be avoided without additionally providing a sensor.
According to the various embodiments described above, unnecessary obstacle detection can be avoided by the position of the obstacle detection sensor 124, the sensor stages 123, 323, or the foot cover 125. Further, by moving the sensor base 323 during the operation in the left-right direction, the detection range of the obstacle can be expanded compared to the conventional one. As a result, the electric wheelchairs 200, 300 which can avoid the obstacle and move safely can be provided.
In addition, any of the various embodiments or modifications described above can be appropriately combined to provide the respective effects. In addition, the embodiments can be combined with each other or the embodiments can be combined with the embodiments, and also features in different embodiments or the embodiments can be combined with each other.
As described above, according to the above embodiment, by providing the obstacle detection sensor at the position forward of the seat frame, it is possible to eliminate the possibility that a portion that should not be detected originally, such as a foot of a user, is erroneously detected as an obstacle.
Industrial applicability
The electric wheelchair of the present invention can avoid detecting unnecessary obstacles such as the feet of the user by providing the obstacle detection sensor at a position forward of the seat frame. As a result, the electric wheelchair is useful for use in areas where movement inside and outside the room is required, such as nursing care and welfare areas.
Description of the reference numerals
100 electric wheelchair; 101 a main frame; 102 driving a wheel; 103 an electric motor; 104 a controller; 105 an auxiliary wheel; 106 a seating seat; 107 a seat frame; 108 a backrest portion; 109 a seat back frame; 110 foot rest plates; 111 a footrest frame; 112 wheel portions; 121 an actuator; 122 an actuator; 123 a sensor stage; 124 obstacle detection sensors; 125 a foot cover; 150 arrow heads; 160 arrow heads; 291 sensing range; 292 boundary (boundary of sensing range); 293 center shaft (rotation shaft); 294 limit position (position of the foot cover approximately coinciding with the boundary of the sensing range); 295 a back-off position; 300 an electric wheelchair; 301 operating lever; 302 a handrail; 323 a sensor stage; 324 a rotating shaft; 325 a motor for rotating the sensor table; 491 altered sensing range; 492 angle θ 1; 500 feet of a user; 600 front end.

Claims (9)

1. An electric wheelchair is provided with:
a main frame;
a seat frame which is arranged above the main frame and supports a sitting seat for supporting the buttocks and the thighs of a user;
a seat back frame disposed behind the main frame and supporting a seat back portion supporting a back of the user;
a footrest frame disposed in front of the main frame and supporting a footrest supporting the user's feet;
a wheel portion that movably supports the main frame;
a sensor stage protruding forward from the main frame;
an obstacle detection sensor that is provided on the sensor base at a position forward of the seat frame and detects an obstacle in a sensing range on the front side of the electric wheelchair; and
and a foot cover which is disposed at a position corresponding to a boundary of the sensing range, and limits the disposition range of the user's foot so that the user's foot does not enter the range detected by the obstacle detection sensor when the obstacle detection sensor detects the obstacle.
2. The electric wheelchair of claim 1,
the obstacle detection sensor is disposed at a position further forward than the footrest.
3. The electric wheelchair of claim 1,
the obstacle detection sensor is provided at a position closer to the seat frame side than the front end of the footrest frame.
4. The electric wheelchair of claim 3,
the foot placing plate frame is formed into an L shape.
5. The electric wheelchair of claim 1,
the foot cover is rotatable about a central axis as a rotation axis, the central axis being coincident with a central axis at a position where the obstacle detection sensor is fixed to the sensor base.
6. The electric wheelchair of claim 5,
the leg shield rotates from a retracted position where the user does not hinder when the user gets on or off the electric wheelchair to a position that coincides with a boundary of the sensing range after the user gets on the electric wheelchair.
7. The electric wheelchair of claim 1,
the rear end of the foot cover is supported by the front end of the sensor base so as to be rotatable within a certain angular range in the lateral direction, and the foot cover is rotatable within the angular range between a retracted position where the foot cover is not obstructed when the user gets on and off the electric wheelchair and a restricting position where the foot cover restricts the rotation of the foot cover so that the foot of the user does not enter the sensing range of the obstacle detection sensor.
8. The electric wheelchair of claim 1,
the foot cover is arranged on the sensor platform.
9. The electric wheelchair of claim 1,
the electric wheelchair further comprises:
an operation lever that can be swung forward, backward, leftward, and rightward by the user to advance the electric wheelchair in a traveling direction;
a controller that detects a front-rear-left-right swing direction applied to the operation lever and controls an operation of the wheel unit; and
and a rotation driving device that moves the sensor base on the same side as a direction of a movement component to the outside of the electric wheelchair when the movement component to the right or left direction is detected as the direction applied to the operation lever.
CN201780038207.XA 2016-06-24 2017-06-09 Electric wheelchair Active CN109414363B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016-125723 2016-06-24
JP2016125723 2016-06-24
PCT/JP2017/021406 WO2017221736A1 (en) 2016-06-24 2017-06-09 Electrically powered wheelchair

Publications (2)

Publication Number Publication Date
CN109414363A CN109414363A (en) 2019-03-01
CN109414363B true CN109414363B (en) 2020-02-18

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CN201780038207.XA Active CN109414363B (en) 2016-06-24 2017-06-09 Electric wheelchair

Country Status (5)

Country Link
US (1) US10646387B2 (en)
EP (1) EP3449885B1 (en)
JP (1) JP6278169B1 (en)
CN (1) CN109414363B (en)
WO (1) WO2017221736A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6740190B2 (en) * 2017-08-03 2020-08-12 株式会社エクセディ Mobile device
JP6687234B2 (en) * 2018-03-05 2020-04-22 株式会社エクセディ Mobile device

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